CN101386053A - Rotary type automatic riveting machine hand and use method thereof - Google Patents
Rotary type automatic riveting machine hand and use method thereof Download PDFInfo
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- CN101386053A CN101386053A CNA200810161659XA CN200810161659A CN101386053A CN 101386053 A CN101386053 A CN 101386053A CN A200810161659X A CNA200810161659X A CN A200810161659XA CN 200810161659 A CN200810161659 A CN 200810161659A CN 101386053 A CN101386053 A CN 101386053A
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- automatic riveting
- runing rest
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- 230000006978 adaptation Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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Abstract
The invention discloses a structure of a rotary automatic riveting manipulator and an application method thereof. The rotary automatic riveting manipulator comprises a circumferential drive motor, a rotary bracket, a telescopic cylinder, a self-adaptive tool head, a Y-direction drive motor, a connecting piece, a wheelbarrow, a linear guide rail and a hollow sleeve. The connecting piece is arranged under the wheelbarrow, and the linear guide rail and a controller are arranged above the wheelbarrow; the linear guide rail is provided with the hollow sleeve; the end of the hollow sleeve is provided with the rotary bracket; the upper end of the rotary bracket is provided with the telescopic cylinder and the self-adaptive tool head. The application method comprises the following steps: (1) the manipulator is pushed to a riveting position to connect the connecting piece and a location hole by a bolt; (2) the hollow sleeve moves along the linear guide rail in Y direction, and the rotary bracket moves circumferentially along the body of the machine; (3) the self-adaptive tool head strikes a rivet to form a pier. The manipulator has the advantages that: (1) the manipulator can meet the riveting requirements of the straight sections of a large aircraft; (2) the rotary automatic riveting manipulator has simple structure, good rigidity and easy realization; (3) the circumferential riveting range is wide.
Description
Technical field
The invention belongs to the automatic riveting apparatus field, be specifically related to a kind of rotary type automatic riveting machine hand and using method thereof.
Background technology
The aircraft assembling is an extremely important ring in the aircraft manufacturing link.Aircraft assembling is because product size is big, complex-shaped, part and connector quantity are many, and its amount of labour accounts for about half of the total amount of labour of aircraft manufacturing even be more.Therefore, the assembly quality of aircraft directly determines final mass, manufacturing cost and the cycle of aircraft.In the large aircraft assembling process, particularly frame sections involutory in, the workload of involutory position covering riveting is very big, uses automation riveting to replace the hand riveting can reduce the aircraft manufacturing cost greatly, improves the aircraft riveting quality comprehensively.
The U.S. has just used automatic riveting machine as far back as the beginning of the fifties on aircraft riveted joint assembling line.The country of each aviation prosperity of the world has now all extensively adopted this technology.The riveting by machine rate of civil aircraft is up to more than 90%, for example at present: the riveting by machine rate of U.S.'s Boeing-767 fuselage is 97%.
Automatic riveting technology in the aircraft assembling is started late in China's aviation, just begins to introduce, use this technology at the nineties initial stage.At present, only have to become to fly, aviation manufacturing companies of a few family such as the west flies, Shen Fei have exploitation, use the strength of this technology, and also just certain applications in Assembling Production, use face also is not very extensive, the riveting by machine rate of riveted structure only is 10%.The advanced level of automatic riveting technical merit of China and international airline manufacturing at present gap is very greatly different.And external automatic riveting equipment price is high, is difficult to a large amount of imports.
Summary of the invention
The objective of the invention is to improve the demand of riveted joint efficient, a kind of rotary type automatic riveting machine hand and using method thereof are provided at aircraft assembling field.
Rotary type automatic riveting machine hand comprises that circumferential drive motors, runing rest, telescopic cylinder, self adaptation tool heads, Y are to drive motors, connector, universal wheel, dolly, linear guides, cannulated sleeve, controller, dolly has connector, dolly is provided with linear guides and controller, linear guides is provided with cannulated sleeve, and be connected to drive motors with Y, the cannulated sleeve end is provided with runing rest, runing rest lower end and junction, cannulated sleeve end are provided with circumferential drive motors, and the runing rest upper end is provided with telescopic cylinder, self adaptation tool heads successively.
Described circumferential drive motors links to each other with circumferential driving worm screw, circumferentially drives worm screw and cooperates with the circumferential worm gear that drives, and realizes rotatablely moving of runing rest.Y links to each other to driven wheel with Y to drive motors, and Y cooperates to driving tooth bar with Y to driven wheel, and the Y that realizes cannulated sleeve is to motion.
The rotary type automatic riveting machine hand using method comprises the steps:
1) rotary type automatic riveting machine hand is installed on the movable trolleys, under the dolly universal wheel is housed, by manual type rotary type automatic riveting machine hand is pushed into the riveted joint position through cargo hold/main cabin base plate, puts down connector, and be connected and fixed with the locating hole that provides in bolt and the machine;
2) Y drives Y to driven wheel to drive motors, and Y drives Y to driving tooth bar to driven wheel, make the cannulated sleeve that is positioned on slide block property along the line guide rail to Y to moving; The worm screw casing cooperates by bearing and cannulated sleeve, and runing rest links to each other with the worm screw casing.When circumferentially drive motors drives circumferentially driving worm screw rotation, circumferentially drive worm screw and circumferentially drive the worm gear rotation on the axle sleeve, thereby the runing rest that realization is positioned on the worm screw casing is made circumferential movement along airframe around being fixed on;
3) telescopic cylinder links to each other with runing rest, drives the self adaptation tool heads along the fuselage radial motion.Drift impacts rivet bar under the hammering cylinder action, form pier nose.
The present invention compared with prior art has beneficial effect:
1) compare with six degree of freedom industrial robot riveting system, rotary type automatic riveting machine hand is simple in structure, and rigidity is better, is easy to realize;
2) vector, circumferential, radially three motions of fuselage of fuselage can be realized, the large aircraft fuselage can be satisfied the fashionable circumferentially requirement of riveted joint on a large scale;
3) with the outside boring of airframe, counter boring, put rivet, top iron, milling flat building-block machine automatically and be used, can high efficiency solve automatic riveting and connectivity problem in the airframe butt joint assembling;
4) simple in structure, riveted joint accurately, can substitute a large amount of riveting works required when manually finishing the assembling of large aircraft fuselage straight section, be high reliability, high efficiency aircraft riveted joint assembling special equipment, be expected in the aircraft assembling line, to be used widely, improve aircraft riveted joint assembly quality and efficient comprehensively.
Description of drawings
Fig. 1 is the structural representation of an embodiment of rotary type automatic riveting machine hand of the present invention.
Fig. 2 is the circumferential driving mechanism structure schematic diagram of an embodiment of rotary type automatic riveting machine hand of the present invention.
Fig. 3 for the Y of an embodiment of rotary type automatic riveting machine hand of the present invention to the driving mechanism structure schematic diagram.
The specific embodiment
As shown in Figure 1, rotary type automatic riveting machine hand comprises circumferential drive motors 1, runing rest 2, telescopic cylinder 3, self adaptation tool heads 4, Y is to drive motors 5, connector 6, universal wheel 7, dolly 8, linear guides 9, cannulated sleeve 10, controller 11, dolly 8 has connector 6, dolly 8 is provided with linear guides 9 and controller 11, linear guides 9 is provided with cannulated sleeve 10, and be connected to drive motors 5 with Y, cannulated sleeve 10 ends are provided with runing rest 2, runing rest 2 lower ends and junction, cannulated sleeve 10 end are provided with circumferential drive motors 1, and runing rest 2 upper ends are provided with telescopic cylinder 3 successively, self adaptation tool heads 4.
Two linear guides 9 on the dolly 8, slide block and moving-member are fixed together.Moving-member is made large diameter cannulated sleeve 10, guarantees its rigidity in weight reduction.Telescopic cylinder 3 links to each other with runing rest 2, drives and the self adaptation tool heads 4 of hammering cylinder and drift is housed along the fuselage radial motion.Drift impacts rivet bar under the hammering cylinder action, form pier nose.
As shown in Figure 2, the worm screw casing cooperates by bearing and hollow shaft, and runing rest 2 links to each other with the worm screw casing.Circumferentially drive motors 1 links to each other with circumferential driving worm screw 12, circumferentially drives worm screw 12 and cooperates with the circumferential worm gear 13 that drives, and realizes rotatablely moving of runing rest 2.Electric wire twines in the rotary course in order to avoid, and runing rest 2 is done ± 180 ° of rotations around the fuselage axis.
As shown in Figure 3, cannulated sleeve 10 front ends are equipped with circumferential driving worm gear 13, and Y is equipped with to driving tooth bar 14 in the side.Y links to each other to driven wheel 15 with Y to drive motors 5, and Y cooperates to driving tooth bar 14 with Y to driven wheel 15, and the Y that realizes cannulated sleeve 10 property guide rails 9 along the line is to motion.
The rotary type automatic riveting machine hand using method comprises the steps:
1) rotary type automatic riveting machine hand is installed on the movable trolleys 8, dolly is equipped with universal wheel 78 times, by manual type rotary type automatic riveting machine hand is pushed into the riveted joint position through cargo hold/main cabin base plate, puts down connector 6, and be connected and fixed with the locating hole that provides in bolt and the machine;
For guaranteeing that hammering cylinder action power is perpendicular to fuselage (along the fuselage normal direction), the pivot of rotary type automatic riveting machine hand runing rest 2 must be positioned on the fuselage axis, and the shape and the positional precision of the connector 6 that this can be by locating hole in laser measurement calibration system and the fuselage and dolly 8 ensure.Adopt this connection locate mode to alleviate the complexity of control system on the one hand, can also improve the rigidity of rotary type automatic riveting machine hand on the other hand, improve the reliability of system.
2) after the outer riveting equipment of machine was finished location, put rivet and roof pressure, Y drove Y to driven wheel 15 to drive motors 5, Y to driven wheel 15 drive Y to drive tooth bar 14, make the cannulated sleeve 10 property guide rails 9 along the line that are positioned on the slide block to Y to mobile; The worm screw casing cooperates by bearing and cannulated sleeve 10, and runing rest 2 links to each other with the worm screw casing.Circumferentially drive motors 1 drives when circumferentially driving worm screw 12 rotations, circumferentially drive worm screw 12 around circumferential driving worm gear 13 rotations that are fixed on the axle sleeve, thereby the runing rest of realizing being positioned on the worm screw casing 2 is made circumferential movement along airframe, the positional increment that self adaptation tool heads 4 provides according to controller 11, respectively along Y to, fuselage circumferentially and radial motion arrive the position, riveting point
3) information that detects of the ccd video camera of installing by self adaptation tool heads 4 is carried out position compensation to it.Telescopic cylinder 3 links to each other with runing rest 2, drives self adaptation tool heads 4 along the fuselage radial motion.Drift impacts rivet bar under the hammering cylinder action, form pier nose.
Claims (4)
1. rotary type automatic riveting machine hand, it is characterized in that comprising circumferential drive motors (1), runing rest (2), telescopic cylinder (3), self adaptation tool heads (4), Y is to drive motors (5), connector (6), universal wheel (7), dolly (8), linear guides (9), cannulated sleeve (10), controller (11), dolly (8) has connector (6), dolly (8) is provided with linear guides (9) and controller (11), linear guides (9) is provided with cannulated sleeve (10), and be connected to drive motors (5) with Y, cannulated sleeve (10) end is provided with runing rest (2), runing rest (2) lower end and cannulated sleeve (10) junction, end are provided with circumferential drive motors (1), and runing rest (2) upper end is provided with telescopic cylinder (3) successively, self adaptation tool heads (4).
2. a kind of rotary type automatic riveting machine hand according to claim 1, it is characterized in that described circumferential drive motors (1) links to each other with circumferential driving worm screw (12), circumferentially drive worm screw (12) and cooperate, realize rotatablely moving of runing rest (2) with the circumferential worm gear (13) that drives.
3. a kind of rotary type automatic riveting machine hand according to claim 1, it is characterized in that described Y links to each other to driven wheel (15) with Y to drive motors (5), Y cooperates to driving tooth bar (14) with Y to driven wheel (15), and the Y that realizes cannulated sleeve (10) is to motion.
4. a rotary type automatic riveting machine hand using method according to claim 1 is characterized in that comprising the steps:
1) rotary type automatic riveting machine hand is installed on the movable trolleys (8), universal wheel (7) is housed under the dolly (8), by manual type rotary type automatic riveting machine hand is pushed into the riveted joint position through cargo hold/main cabin base plate, put down connector (6), and be connected and fixed with the locating hole that provides in bolt and the machine;
2) Y drives Y to driven wheel (15) to drive motors (5), Y to driven wheel (15) drive Y to drive tooth bar (14), make the cannulated sleeve (10) that is positioned on slide block property guide rail (9) along the line to Y to moving; The worm screw casing cooperates by bearing and cannulated sleeve (10), runing rest (2) links to each other with the worm screw casing, circumferentially drive motors (1) drives when circumferentially driving worm screw (12) rotation, circumferentially drive worm screw (12) around circumferential driving worm gear (13) rotation that is fixed on the axle sleeve, thereby the runing rest (2) that realization is positioned on the worm screw casing is made circumferential movement along airframe;
3) telescopic cylinder (3) links to each other with runing rest (2), drives self adaptation tool heads (4) along the fuselage radial motion, and drift impacts rivet bar under the hammering cylinder action, form pier nose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810161659XA CN101386053B (en) | 2008-09-19 | 2008-09-19 | Rotary type automatic riveting machine hand and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810161659XA CN101386053B (en) | 2008-09-19 | 2008-09-19 | Rotary type automatic riveting machine hand and use method thereof |
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| CN101386053A true CN101386053A (en) | 2009-03-18 |
| CN101386053B CN101386053B (en) | 2010-10-06 |
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| CN200810161659XA Expired - Fee Related CN101386053B (en) | 2008-09-19 | 2008-09-19 | Rotary type automatic riveting machine hand and use method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102324346A (en) * | 2011-08-26 | 2012-01-18 | 浙江大学 | Full-automatic electric appliance assembly system based on industrial robot |
| CN103128221A (en) * | 2011-11-30 | 2013-06-05 | 苏州工业园区高登威科技有限公司 | Riveting machine automatic label printing method |
| CN104959513A (en) * | 2015-05-29 | 2015-10-07 | 达运精密工业（厦门）有限公司 | Automatic riveter |
| CN107784888A (en) * | 2017-11-22 | 2018-03-09 | 上海交通大学 | A kind of flexible training set and Training Methodology for aircraft pneumatic riveting in a row |
| CN108115532A (en) * | 2017-12-19 | 2018-06-05 | 大连理工大学 | The processing unit (plant) and processing method of composite material component intracavity sidewall root pilot hole |
| CN108313430A (en) * | 2018-03-29 | 2018-07-24 | 合肥神马电气有限公司 | A kind of automatic riveted-joint apparatus of high-tension cable drum packaging |
| CN113798324A (en) * | 2020-06-13 | 2021-12-17 | 上海梅山钢铁股份有限公司 | Strip steel riveting trolley |
-
2008
- 2008-09-19 CN CN200810161659XA patent/CN101386053B/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102324346A (en) * | 2011-08-26 | 2012-01-18 | 浙江大学 | Full-automatic electric appliance assembly system based on industrial robot |
| CN102324346B (en) * | 2011-08-26 | 2013-09-04 | 浙江大学 | Full-automatic electric appliance assembly system based on industrial robot |
| CN103128221A (en) * | 2011-11-30 | 2013-06-05 | 苏州工业园区高登威科技有限公司 | Riveting machine automatic label printing method |
| CN103128221B (en) * | 2011-11-30 | 2016-06-29 | 苏州高登威科技股份有限公司 | Riveting machine automatic printing stamp methods |
| CN104959513A (en) * | 2015-05-29 | 2015-10-07 | 达运精密工业（厦门）有限公司 | Automatic riveter |
| CN107784888A (en) * | 2017-11-22 | 2018-03-09 | 上海交通大学 | A kind of flexible training set and Training Methodology for aircraft pneumatic riveting in a row |
| CN108115532A (en) * | 2017-12-19 | 2018-06-05 | 大连理工大学 | The processing unit (plant) and processing method of composite material component intracavity sidewall root pilot hole |
| CN108115532B (en) * | 2017-12-19 | 2019-06-25 | 大连理工大学 | The processing unit (plant) and processing method of composite material component intracavity sidewall root pilot hole |
| CN108313430A (en) * | 2018-03-29 | 2018-07-24 | 合肥神马电气有限公司 | A kind of automatic riveted-joint apparatus of high-tension cable drum packaging |
| CN113798324A (en) * | 2020-06-13 | 2021-12-17 | 上海梅山钢铁股份有限公司 | Strip steel riveting trolley |
| CN113798324B (en) * | 2020-06-13 | 2024-06-04 | 上海梅山钢铁股份有限公司 | Strip steel riveting trolley |
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| Publication number | Publication date |
|---|---|
| CN101386053B (en) | 2010-10-06 |
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Effective date of registration: 20091120 Address after: Postal code 38, Zhejiang Road, Zhejiang, Hangzhou: 310027 Applicant after: Zhejiang University Co-applicant after: Chengdu aircraft industry (Group) Co., Ltd. Address before: Postal code 38, Zhejiang Road, Zhejiang, Hangzhou: 310027 Applicant before: Zhejiang University |
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Granted publication date: 20101006 Termination date: 20120919 |